CN111431403A - Direct-current boost converter system control method based on nonlinear extended state observer and PD control technology - Google Patents

Direct-current boost converter system control method based on nonlinear extended state observer and PD control technology Download PDF

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CN111431403A
CN111431403A CN202010106640.6A CN202010106640A CN111431403A CN 111431403 A CN111431403 A CN 111431403A CN 202010106640 A CN202010106640 A CN 202010106640A CN 111431403 A CN111431403 A CN 111431403A
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boost converter
voltage
observer
extended state
direct current
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王军晓
戎佳艺
杨海
俞立
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Zhejiang University of Technology ZJUT
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/1563—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators without using an external clock
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/44—Circuits or arrangements for compensating for electromagnetic interference in converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/157—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators with digital control
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M3/00—Conversion of dc power input into dc power output
    • H02M3/02—Conversion of dc power input into dc power output without intermediate conversion into ac
    • H02M3/04—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters
    • H02M3/10—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H02M3/145—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
    • H02M3/155—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
    • H02M3/156—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators
    • H02M3/1566—Conversion of dc power input into dc power output without intermediate conversion into ac by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only with automatic control of output voltage or current, e.g. switching regulators with means for compensating against rapid load changes, e.g. with auxiliary current source, with dual mode control or with inductance variation

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  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Dc-Dc Converters (AREA)

Abstract

A control method of a direct current boost converter system based on a nonlinear extended state observer and a PD control technology is suitable for high-precision control of the direct current boost converter system. The method is simple to realize, has less parameter adjustment, can improve the aim of quickly tracking the reference signal of the direct current boost converter system, can effectively reduce the steady-state fluctuation of the power electronic direct current boost converter, and meets the application of the high-performance power electronic boost converter system.

Description

Direct-current boost converter system control method based on nonlinear extended state observer and PD control technology
Technical Field
The invention relates to a power electronic direct-current boost converter system, in particular to a direct-current boost converter system control method based on a nonlinear extended state observer and a PD control technology.
Background
The rapid development of modern science and technology, especially the great progress of power electronic technology, microelectronic technology, digital control technology and modern control theory, creates favorable conditions for the development of power electronic direct current switch power supply, and especially in the fields of robots, uninterruptible power supply systems, electric vehicles, solar photovoltaic systems and the like with higher and higher requirements on the control performance of direct current switch power supplies, direct current converter systems are receiving more and more attention.
Over the past several decades, dc-dc conversion has become a popular technique that is widely used in a variety of applications, including dc power supplies and dc motor drives. With the rapid development of high-power switching devices since the 80 s in the 20 th century, boost converters have been widely used in the industrial control fields of new energy power generation, portable electronic products, and the like. Because the boost converter is widely applied and has a wide market, the performance of the boost converter is more and more emphasized by people, and the requirements on the stability and the precision of the control of the boost converter are more and more strict.
At present, a direct current boost power electronic converter system mostly adopts a double-closed-loop control structure, namely, an inner ring is a current control ring, and an outer ring is a voltage control ring. The controller mostly adopts a PI regulator. The current loop has the functions of improving the rapidity of the system and inhibiting the interference in the current in time; the voltage ring has the functions of improving the load disturbance resistance of the system and inhibiting the voltage stable fluctuation.
In practical dc power supply equipment, because the operating occasions of the dc converter system mostly require that the output voltage precision is rather high, and it is required to be able to adapt to various different operating conditions quickly, but because the currently adopted PI controller mainly uses integration to eliminate the influence of disturbance on the output voltage when the system operates under different operating conditions, for example, under the condition of disturbance, it is a passive and slow control mode, and especially when the system encounters fast time-varying or periodic disturbance, it is difficult to track the given voltage quickly, and these disturbances mainly include load fluctuation, voltage input variation, and the like. If the controller does not actively deal with these disturbances quickly, it is difficult for the closed loop system to achieve fast and high precision voltage output performance. Therefore, under the condition that the direct current boost power electronic converter system has disturbance, the system can process the disturbance in time, the tracking speed and the precision of the power electronic converter system can be further improved, and the application of the power electronic system in the high-precision voltage output working field is met.
In order to deal with system disturbance in time and improve the tracking accuracy of a power electronic direct current Boost Converter system, a large amount of research is carried out by domestic and foreign scholars in L inputs-currents J, mnedez a.h., garcia-rodi-gu-c, sir-Ram i-re h.robustnolyet adaptive Control of a "Boost" Converter video adaptive parameter identification [ J ]. IEEE Transactions on adaptive Electronics,2013,61(8):4105 etc.) a robust non-linear adaptive controller is designed, a non-minimum phase output voltage tracking strategy for a DC Boost power Converter with uncertain time-varying parameters is indirectly controlled by using the flatness characteristic of the system, and a non-linear output trajectory tracking strategy for a DC Boost power Converter with uncertain time-varying parameters is indirectly controlled by a fast feedback process and a self-tracking Control model for deriving a fast tracking parameter of a voltage of a conventional model under a transient stability model of a transient model under the condition of a transient-triggering of a transient model of a transient Control (noise-linear simulation) to ensure that a tracking parameter is not known as a conventional tracking model under the condition of a transient-linear Control.
Disclosure of Invention
The invention aims to solve the problems that the load resistance disturbance and the input voltage change of a direct current boost converter are solved, firstly, the disturbance is estimated on the basis of voltage and current state information acquired in an experiment by utilizing a nonlinear extended state observer technology, and after load resistance disturbance and input voltage change estimation information existing in a system are obtained, a composite controller is designed by utilizing a PD control technology, so that the rapidity and the accuracy of tracking the output voltage of the direct current boost converter system on a reference output voltage are realized. The method is easy to realize, the parameter adjustment is relatively simple, and the method has good application value.
In order to realize the above-mentioned invention task, the invention provides the following technical scheme:
a control method of a direct current boost converter system based on a nonlinear extended state observer and a PD control technology comprises the following steps:
step one, establishing a direct current boost converter, converting a time-varying nonlinear switching circuit into an equivalent time-invariant linear continuous circuit by using the inductive current and the capacitor voltage of a system as state variables and depending on a time averaging technology, thereby performing large-signal transient analysis on the switching converter, establishing a state space average model of the system, and establishing the model of the boost converter by using two states u of a switching tube as 0 or 1:
when the switching tube Q is turned off, the control quantity input is 0, i.e., u is 0, and the inductor current iLThe power of the power supply and the stored energy of the inductor are transferred to the load and the capacitor by the flow of the diode D to the output side, the capacitor is charged, and at the moment, the voltage applied to the inductor is vin-voDue to vo＞vinTherefore iLA linear decrease;
Figure BDA0002388692880000021
when the switching tube Q is turned on, the control quantity input is 1, i.e., u is 1, and the power supply voltage v is set toinAll applied to a boost inductor, inductor current iLThe linear growth is carried out, at the moment, the diode D is cut off, and the load is powered by the filter capacitor;
Figure BDA0002388692880000031
the arrangement model is as follows:
Figure BDA0002388692880000032
step two, respectively designing two nonlinear extended state observers to estimate load resistance change and input voltage fluctuation, wherein the observer I is designed as follows:
Figure BDA0002388692880000033
in the formula
Figure BDA0002388692880000034
Is an estimate of the inductor current and,
Figure BDA0002388692880000035
for estimation of input voltage disturbance, observer gain λ1,λ2＞0；
The observer II is designed as follows:
Figure BDA0002388692880000036
in the formula
Figure BDA0002388692880000037
Is an estimate of the output voltage and,
Figure BDA0002388692880000038
observer gain λ as an estimate of load resistance disturbance3,λ4＞0；
Thirdly, on the basis of the designed nonlinear extended state observer, when the boost converter selects the output voltage as the controlled variable, the system is a non-minimum phase system, so that the controller is designed on the basis of the total energy storage of the system in consideration of the non-minimum phase characteristic of the system;
the total stored energy of the boost converter system is:
Figure BDA0002388692880000039
performing second differentiation on the above equation to obtain:
Figure BDA00023886928800000310
Figure BDA00023886928800000311
wherein:
Figure BDA0002388692880000041
Figure BDA0002388692880000042
Figure BDA0002388692880000043
respectively, the estimated values of the input voltage and the load resistance;
the total energy storage reference value of the system is as follows:
Figure BDA0002388692880000044
wherein the reference value of the inductor current is:
Figure BDA0002388692880000045
the total system energy storage deviation is defined as:
e＝y-yr
performing second differentiation on the above equation to obtain:
Figure BDA0002388692880000046
the controller is designed as follows:
Figure BDA0002388692880000047
wherein k isp,kdAs a controller parameter, when kp,kdWhen the voltage is greater than 0, the output voltage v of the closed loop systemoIt is realized that for the reference voltage vrThe tracking of (2).
Further, the direct current boost power electronic converter adopts a state average model.
The system disturbances considered are variations in the voltage input and load resistance disturbances.
The system disturbance observer considered is a non-linear extended state observer and the controller employed is a PD controller.
Firstly, based on the topological structure of a direct current boost converter, considering the strong nonlinear switching characteristic of the direct current boost converter, adopting a state space average method in a continuous modeling method to carry out weighted average on state variables, converting a nonlinear time-varying switching circuit into an equivalent linear time-invariant continuous circuit, and establishing a state space average model of the system by taking the inductive current and the capacitance voltage of the system as state variables and depending on a time averaging technology; then, considering the input voltage fluctuation and the load resistance change of the DC converter, respectively designing a nonlinear expansion state controller for the DC converter, estimating the load resistance change and the input voltage fluctuation, and estimating the disturbance of the load resistance change as the disturbance of the load resistance change on the basis of a unified model of the DC converter
Figure BDA0002388692880000048
Estimating the disturbance of the input voltage fluctuation as
Figure BDA0002388692880000051
Respectively designing an observer to estimate the disturbance according to the nonlinear extended state observer technology; and finally, on the basis of estimating the disturbance by using a nonlinear extended state observer, considering the non-minimum phase characteristic of the system, and selecting the total energy storage of the system as a tracking target to design a controller, thereby ensuring the stability of the system output. Designing PD controller under the condition of considering load resistance change and input voltage fluctuation, and compounding controlThe device can ensure that the voltage v is output when the system has disturbanceoStill able to track a given reference voltage v fasterr。
The invention has the following beneficial results: the invention applies the composite controller combining the nonlinear extended state observer and the PD control technology to the DC boost converter, and can obviously inhibit the disturbance caused by load change and input voltage fluctuation under the condition of ensuring the dynamic performance of the system, thereby greatly improving the tracking speed and precision of the DC boost converter.
The control method based on the nonlinear extended state observer and the PD control technology is applied to a direct current boost converter system, under the condition of ensuring the dynamic performance, the anti-interference performance and the tracking performance of the direct current boost change system can be obviously improved, the application of the direct current boost converter in the high-precision field is met, and engineers only need to adjust the parameters of a controller less.
Drawings
FIG. 1 is a control block diagram of a DC boost converter control method based on a nonlinear extended state observer and PD control techniques;
FIG. 2 is a schematic diagram of a control method of a DC boost converter based on a nonlinear extended state observer and PD control technology;
FIG. 3 is a diagram of a non-linear extended state observer;
fig. 4 is an experimental diagram of the system response of the dc boost converter when the load resistance is suddenly changed from 400 Ω to 300 Ω under the NESO + PD composite controller, wherein (a) represents the output voltage, (B) represents the inductor current, and (C) represents the controlled variable;
fig. 5 is an experimental diagram of the response of the dc boost converter system when the input voltage abruptly changes from 6V to 5V under the NESO + PD composite controller, where (a) represents the output voltage, (B) represents the inductor current, and (C) represents the control amount.
Detailed Description
The embodiments of the present invention will be described in detail below with reference to the accompanying drawings: the embodiment is implemented on the premise of the technical scheme of the invention, and a detailed implementation mode and a specific implementation process are given, but the protection scope of the invention is not limited to the following examples.
Referring to fig. 1 to 5, a method for controlling a dc boost converter system based on a nonlinear extended state observer and a PD control technique includes the following steps:
step one, as shown in a structure diagram of fig. 1, establishing a basic structure diagram of a dc boost converter, converting a time-varying nonlinear switching circuit into an equivalent time-invariant linear continuous circuit by using an inductive current and a capacitive voltage of a system as state variables and relying on a time averaging technique, thereby performing large-signal transient analysis on the switching converter, establishing a state space average model of the system, and establishing the model of the boost converter by using two states u of a switching tube as 0 or 1:
when the switching tube Q is turned off, the control quantity input is 0, i.e., u is 0, and the inductor current iLThe power of the power supply and the stored energy of the inductor are transferred to the load and the capacitor by the flow of the diode D to the output side, the capacitor is charged, and at the moment, the voltage applied to the inductor is vin-voDue to vo＞vinTherefore iLA linear decrease;
Figure BDA0002388692880000061
when the switching tube Q is turned on, the control quantity input is 1, i.e., u is 1, and the power supply voltage v is set toinAll applied to a boost inductor, inductor current iLThe linear growth is carried out, at the moment, the diode D is cut off, and the load is powered by the filter capacitor;
Figure BDA0002388692880000062
the arrangement model is as follows:
Figure BDA0002388692880000063
let x1＝iL,x2＝voThe disturbance of the input voltage fluctuation is defined as d1(t)＝vin-vin0The disturbance of the load resistance change is defined as
Figure BDA0002388692880000064
Wherein v isin0,R0Nominal values of input voltage and load resistance, respectively, and taking into account diode parasitic voltage vF：
Figure BDA0002388692880000065
Step two, fig. 2 is a block diagram of a control system of the dc boost converter, two nonlinear extended state observers are respectively designed to estimate load resistance change and input voltage fluctuation, and observer i is designed as:
Figure BDA0002388692880000071
in the formula
Figure BDA0002388692880000072
Is an estimate of the inductor current and,
Figure BDA0002388692880000073
for estimation of input voltage disturbance, observer gain λ1,λ2＞0；
The observer II is designed as follows:
Figure BDA0002388692880000074
in the formula
Figure BDA0002388692880000075
Is an estimate of the output voltage and,
Figure BDA0002388692880000076
observer gain λ as an estimate of load resistance disturbance3,λ4＞0；
Thirdly, on the basis of the designed nonlinear extended state observer, when the boost converter selects the output voltage as the controlled variable, the system is a non-minimum phase system, so that the controller is designed on the basis of the total energy storage of the system in consideration of the non-minimum phase characteristic of the system;
the total stored energy of the boost converter system is:
Figure BDA0002388692880000077
performing second differentiation on the above equation to obtain:
Figure BDA0002388692880000078
Figure BDA0002388692880000079
wherein:
Figure BDA00023886928800000710
Figure BDA00023886928800000711
Figure BDA00023886928800000712
respectively, the estimated values of the input voltage and the load resistance;
the total energy storage reference value of the system is as follows:
Figure BDA00023886928800000713
wherein the reference value of the inductor current is:
Figure BDA0002388692880000081
the total system energy storage deviation is defined as:
e＝y-yr
performing second differentiation on the above equation to obtain:
Figure BDA0002388692880000082
the controller may be designed to:
Figure BDA0002388692880000083
wherein k isp,kdAs a controller parameter, when kp,kdWhen the voltage is greater than 0, the output voltage v of the closed loop systemoIt is realized that for the reference voltage vrThe tracking of (2).
In order to further verify the effectiveness of the control of the direct current boost change system based on the nonlinear expansion state observer and the PD control technology, an experimental platform in the embodiment is a direct current boost converter system, a full digital control implementation mode based on an NI real-time control board card is adopted, and a programming language is L abVIEW.
To verify the anti-interference properties of the designed controller, we observed the control effect of the NESO + PD controller. First, consider a case where there is no input voltage fluctuation, where the input voltage is 6V, the target value is 12V, and the ideal duty ratio is μ equal to 0.5. Table 1 shows parameters of the dc boost converter.
Figure BDA0002388692880000084
Figure BDA0002388692880000091
TABLE 1
When the load is changed from 400 Ω to 300 Ω, the output voltage, the inductor current and the controlled variable are as shown in fig. 4, and the observer and the PD controller recover 12V after the output voltage is disturbed a little based on the nonlinear extended state. When the load is changed from 6V to 5V, see fig. 5, the output voltage is restored to 12V after small disturbance. It can be seen from fig. 4(A, B, C) and 5(A, B, C) that the NESO + PD controller greatly improves the rapidity and accuracy of the dc boost converter system.
In the embodiment, a nonlinear extended state observer and PD control technology are used for controlling the direct-current boost converter system, and under the condition that the direct-current boost power electronic converter system has disturbance, the system can timely process the disturbance, so that the tracking precision and speed of the power electronic converter system can be further improved, and the application of the power electronic direct-current boost converter system in the high-performance voltage output working field is met. The experimental results show that: the method has strong universality and good disturbance resistance under the condition that the system has disturbance, and can obviously improve the tracking speed and the precision of the power electronic direct current converter system.
The above description is only of the preferred embodiments of the present invention, and it should be noted that: it will be apparent to those skilled in the art that several contemplated modifications and adaptations can be made without departing from the principles of the invention and these are intended to be included within the scope of the invention.

Claims (4)

1. A control method of a direct current boost converter system based on a nonlinear extended state observer and a PD control technology is characterized by comprising the following steps:
step one, establishing a direct current boost converter, converting a time-varying nonlinear switching circuit into an equivalent time-invariant linear continuous circuit by using the inductive current and the capacitor voltage of a system as state variables and depending on a time averaging technology, thereby performing large-signal transient analysis on the switching converter, establishing a state space average model of the system, and establishing the model of the boost converter by using two states u of a switching tube as 0 or 1:
when the switching tube Q is turned off, the control quantity input is 0, i.e., u is 0, and the inductor current iLThe power of the power supply and the stored energy of the inductor are transferred to the load and the capacitor by the flow of the diode D to the output side, the capacitor is charged, and at the moment, the voltage applied to the inductor is vin-voDue to vo＞vinTherefore iLA linear decrease;
Figure FDA0002388692870000011
when the switching tube Q is turned on, the control quantity input is 1, i.e., u is 1, and the power supply voltage v is set toinAll applied to a boost inductor, inductor current iLThe linear growth is carried out, at the moment, the diode D is cut off, and the load is powered by the filter capacitor;
Figure FDA0002388692870000012
the arrangement model is as follows:
Figure FDA0002388692870000013
step two, respectively designing two nonlinear extended state observers to estimate load resistance change and input voltage fluctuation, wherein the observer I is designed as follows:
Figure FDA0002388692870000014
in the formula
Figure FDA0002388692870000015
Is an estimate of the inductor current and,
Figure FDA0002388692870000016
for estimation of input voltage disturbance, observer gain λ1,λ2＞0；
The observer II is designed as follows:
Figure FDA0002388692870000017
in the formula
Figure FDA0002388692870000021
Is an estimate of the output voltage and,
Figure FDA0002388692870000022
observer gain λ as an estimate of load resistance disturbance3,λ4＞0；
Thirdly, on the basis of the designed nonlinear extended state observer, when the boost converter selects the output voltage as the controlled variable, the system is a non-minimum phase system, so that the controller is designed on the basis of the total energy storage of the system in consideration of the non-minimum phase characteristic of the system;
the total stored energy of the boost converter system is:
Figure FDA0002388692870000023
performing second differentiation on the above equation to obtain:
Figure FDA0002388692870000024
Figure FDA0002388692870000025
wherein:
Figure FDA0002388692870000026
Figure FDA0002388692870000027
Figure FDA0002388692870000028
respectively, the estimated values of the input voltage and the load resistance;
the total energy storage reference value of the system is as follows:
Figure FDA0002388692870000029
wherein the reference value of the inductor current is:
Figure FDA00023886928700000210
the total system energy storage deviation is defined as:
e＝y-yr
performing second differentiation on the above equation to obtain:
Figure FDA00023886928700000211
the controller is designed as follows:
Figure FDA0002388692870000031
wherein k isp,kdAs a controller parameter, when kp,kdOutput of closed loop system when more than 0Voltage v is outputoIt is realized that for the reference voltage vrThe tracking of (2).
2. The method for controlling the system of the direct current boost converter based on the nonlinear extended state observer and the PD control technology is characterized in that the direct current boost power electronic converter adopts a state average model.
3. The method for controlling a system of a dc boost converter based on a nonlinear extended state observer and PD control technique according to claim 1 or 2, characterized in that the considered system disturbances are changes in voltage input and load resistance disturbances.
4. A method for controlling a dc boost converter system based on a nonlinear extended state observer and PD control technique according to claim 1 or 2, characterized in that the considered system disturbance observer is a nonlinear extended state observer and the controller used is a PD controller.
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CN111831011A (en) * 2020-08-07 2020-10-27 大连海事大学 Method for tracking and controlling plane track of underwater robot
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CN111831011A (en) * 2020-08-07 2020-10-27 大连海事大学 Method for tracking and controlling plane track of underwater robot
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CN112421950A (en) * 2020-10-30 2021-02-26 国网河南省电力公司洛阳供电公司 Boost converter control method based on disturbance observer and integral sliding mode control
CN115065237A (en) * 2022-08-18 2022-09-16 南京信息工程大学 Buck-boost converter and output feedback control method thereof
CN115065237B (en) * 2022-08-18 2022-11-18 南京信息工程大学 Buck-boost converter and output feedback control method thereof
CN115102396A (en) * 2022-08-24 2022-09-23 南京信息工程大学 Current-free sensing control method of boost converter with constant-power load
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